Heat covered gas grill to medium-high. Heat oil in large skillet on grill. Add garlic; cook just until golden. Remove garlic from skillet; reserve. Add mushrooms to skillet; cook until mushroom juices begin to flow. Stir in ½ cup wine, fig preserves and reserved garlic; cook until mushrooms are tender, glazed and sauce is syrupy; set aside until burgers are ready. In large bowl, combine crushed pretzels, milk, remaining wine and rosemary; stir until pretzels are evenly moistened. Add ground beef, salt and pepper; combine well. Divide meat mixture into 6 portions and shape into burgers to fit size of rolls, about 4-inches round or square. Grill burgers on lightly greased grill 5 minutes per side or to desired doneness. During last few minutes of cooking time, top burgers with brie to melt and toast rolls on outer edges of grill. Brush bottom of toasted rolls with some of fig glaze. Layer with lettuce, a burger and some mushrooms. Place other half of roll on top.